Differences depending on the drive type
Depending on the drive type, the actual position controller for the axes is realized in the CNC or in the drive.
In the case of a so-called intelligent drive, the drive performs the task of position control, and the corresponding axis parameters for the position control loop are realized via corresponding drive parameters. In this case, the CNC's position control loop is not active, and the CNC performs monitoring tasks only (e.g. following error and collision monitoring) and cyclically supplies the drive with setpoints.
If, by contrast, the CNC's position control is used (e.g. terminal drive type), a correcting variable is cyclically output to the drive. This correcting variable contains the corresponding scaling values based on the set axis parameters.
The following table lists the effects parameters discussed for the various drive types.
Parameter | Position | Position controller in the CNC | |||
|---|---|---|---|---|---|
Drive type | SERCOS | SERCOS | ProfiDrive | Lightbus | Terminal (±10V) |
Measuring system wegauf_z, wegauf_n |
| X | X | X | X |
Gain factor of the P- position |
| X | X | X | X |
Adaptation to D/A multi_gain_z, multi_gain_n |
| X |
| X | X |
Sign vz_stellgr, vz_istw |
| X | X | X | X |
| |
Before the axes are commissioned, the electrical safety facilities, in particular the Emergency Stop facilities and hardware limit switches of the axes, must have been checked and must be operable. |
